Add TechnicColorSensor

#111 non-breaking
sharpbrick · Dec 21, 2020 · 542d033 · 542d033
1 parent 799fc18
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diff --git a/examples/SharpBrick.PoweredUp.Examples/ExampleTechnicColorSensor.cs b/examples/SharpBrick.PoweredUp.Examples/ExampleTechnicColorSensor.cs
@@ -0,0 +1,44 @@
+using System;
+using System.Threading.Tasks;
+using Microsoft.Extensions.Logging;
+using SharpBrick.PoweredUp;
+
+namespace Example
+{
+    public class ExampleTechnicColorSensor : BaseExample
+    {
+        public override async Task ExecuteAsync()
+        {
+            using (var hub = Host.FindByType<TechnicMediumHub>())
+            {
+                await hub.VerifyDeploymentModelAsync(modelBuilder => modelBuilder
+                    .AddHub<TechnicMediumHub>(hubBuilder => hubBuilder
+                        .AddDevice<TechnicColorSensor>(hub.A)
+                    )
+                );
+
+                var technicColorSensor = hub.A.GetDevice<TechnicColorSensor>();
+
+                var m1 = technicColorSensor.ColorObservable.Subscribe(x => Log.LogWarning($"Color: {x}"));
+                var m2 = technicColorSensor.ReflectionObservable.Subscribe(x => Log.LogWarning($"Reflection: {x}"));
+                var m3 = technicColorSensor.AmbientLightObservable.Subscribe(x => Log.LogWarning($"Ambient Light: {x}"));
+                var m6 = technicColorSensor.RgbObservable.Subscribe(x => Log.LogWarning($"RGB: {x.red}/{x.green}/{x.blue}/{x.fourthValue}"));
+                var m7 = technicColorSensor.HsvObservable.Subscribe(x => Log.LogWarning($"RGB: {x.hue}/{x.saturation}/{x.value}"));
+
+                await technicColorSensor.SetupNotificationAsync(technicColorSensor.ModeIndexColor, true);
+
+                await Task.Delay(20_000);
+
+                // set only subset of the lights
+                await technicColorSensor.SetSectorLightAsync(0, 0, 100);
+
+
+                //await technicColorSensor.SetRgbColors2Async(100, 0, 0);
+
+                await Task.Delay(5_000);
+
+                await hub.SwitchOffAsync();
+            }
+        }
+    }
+}
diff --git a/examples/SharpBrick.PoweredUp.Examples/Program.cs b/examples/SharpBrick.PoweredUp.Examples/Program.cs
@@ -40,7 +40,8 @@ static async Task Main(string[] args)
             //example = new Example.ExampleMarioBarcode();
             //example = new Example.ExampleMarioPants();
             //example = new Example.ExampleMarioAccelerometer();
-            example = new Example.ExampleDuploTrainBase();
+            //example = new Example.ExampleDuploTrainBase();
+            example = new Example.ExampleTechnicColorSensor();
 
             // NOTE: Examples are programmed object oriented style. Base class implements methods Configure, DiscoverAsync and ExecuteAsync to be overwriten on demand.
             await example.InitHostAndDiscoverAsync(enableTrace);

diff --git a/src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs b/src/SharpBrick.PoweredUp/Devices/DeviceFactory.cs
@@ -41,6 +41,7 @@ public Type GetTypeFromDeviceType(DeviceType deviceType)
                 DeviceType.TechnicMediumHubGestureSensor => typeof(TechnicMediumHubGestureSensor),
                 DeviceType.RemoteControlButton => typeof(RemoteControlButton),
                 DeviceType.RemoteControlRssi => typeof(RemoteControlRssi),
+                DeviceType.TechnicColorSensor => typeof(TechnicColorSensor),
                 DeviceType.TechnicMediumHubAccelerometer => typeof(TechnicMediumHubAccelerometer),
                 DeviceType.TechnicMediumHubGyroSensor => typeof(TechnicMediumHubGyroSensor),
                 DeviceType.TechnicMediumHubTiltSensor => typeof(TechnicMediumHubTiltSensor),
@@ -71,6 +72,7 @@ public static DeviceType GetDeviceTypeFromType(Type type)
                 nameof(TechnicMediumHubGestureSensor) => DeviceType.TechnicMediumHubGestureSensor,
                 nameof(RemoteControlButton) => DeviceType.RemoteControlButton,
                 nameof(RemoteControlRssi) => DeviceType.RemoteControlRssi,
+                nameof(TechnicColorSensor) => DeviceType.TechnicColorSensor,
                 nameof(TechnicMediumHubAccelerometer) => DeviceType.TechnicMediumHubAccelerometer,
                 nameof(TechnicMediumHubGyroSensor) => DeviceType.TechnicMediumHubGyroSensor,
                 nameof(TechnicMediumHubTiltSensor) => DeviceType.TechnicMediumHubTiltSensor,

diff --git a/src/SharpBrick.PoweredUp/Devices/TechnicColorSensor.cs b/src/SharpBrick.PoweredUp/Devices/TechnicColorSensor.cs
@@ -0,0 +1,161 @@
+using System;
+using System.Collections.Generic;
+using System.Linq;
+using System.Reactive.Linq;
+using System.Threading.Tasks;
+using SharpBrick.PoweredUp.Protocol;
+using SharpBrick.PoweredUp.Protocol.Messages;
+using SharpBrick.PoweredUp.Utils;
+
+namespace SharpBrick.PoweredUp
+{
+    public class TechnicColorSensor : Device, IPoweredUpDevice
+    {
+        protected SingleValueMode<sbyte> _colorMode;
+        protected SingleValueMode<sbyte> _reflectionMode;
+        protected SingleValueMode<sbyte> _ambientLightMode;
+        protected MultiValueMode<sbyte> _lightMode;
+
+        protected MultiValueMode<short> _rawReflectionMode;
+        protected MultiValueMode<short> _rgbMode;
+        protected MultiValueMode<short> _hsvMode;
+        protected MultiValueMode<short> _shsvMode;
+
+        public byte ModeIndexColor { get; protected set; } = 0;
+        public byte ModeIndexReflection { get; protected set; } = 1;
+        public byte ModeIndexAmbientLight { get; protected set; } = 2;
+        public byte ModeIndexLight { get; protected set; } = 3;
+        public byte ModeIndexRawReflection { get; protected set; } = 4;
+        public byte ModeIndexRgbIntern { get; protected set; } = 5;
+        public byte ModeIndexHSV { get; protected set; } = 6;
+        public byte ModeIndexSHSV { get; protected set; } = 7;
+        public byte ModeIndexDebug { get; protected set; } = 8;
+        public byte ModeIndexCalibration { get; protected set; } = 9;
+
+
+        public sbyte Color => _colorMode.SI;
+        public IObservable<TechnicColor> ColorObservable => _colorMode.Observable.Select(v => (TechnicColor)v.SI);
+        public IObservable<sbyte> ReflectionObservable => _reflectionMode.Observable.Select(v => v.SI);
+        public IObservable<sbyte> AmbientLightObservable => _ambientLightMode.Observable.Select(v => v.SI);
+        public IObservable<(short red, short green, short blue, short fourthValue)> RgbObservable => _rgbMode.Observable.Select(v => (v.SI[0], v.SI[1], v.SI[2], v.SI[3]));
+        public IObservable<(short hue, short saturation, short value)> HsvObservable => _hsvMode.Observable.Select(v => (v.SI[0], v.SI[1], v.SI[2]));
+
+
+        public (short red, short green, short blue) Rgb => (_rgbMode.SI[0], _rgbMode.SI[1], _rgbMode.SI[2]);
+
+        public TechnicColorSensor()
+        { }
+        public TechnicColorSensor(ILegoWirelessProtocol protocol, byte hubId, byte portId)
+            : base(protocol, hubId, portId)
+        {
+            _colorMode = SingleValueMode<sbyte>(ModeIndexColor);
+            _reflectionMode = SingleValueMode<sbyte>(ModeIndexReflection);
+            _ambientLightMode = SingleValueMode<sbyte>(ModeIndexAmbientLight);
+            _lightMode = MultiValueMode<sbyte>(ModeIndexLight);
+            _rgbMode = MultiValueMode<short>(ModeIndexRgbIntern);
+            _hsvMode = MultiValueMode<short>(ModeIndexHSV);
+        }
+
+        public async Task SetSectorLightAsync(byte sector1, byte sector2, byte sector3)
+        {
+            AssertIsConnected();
+
+            await _lightMode.WriteDirectModeDataAsync(new byte[] { sector1, sector2, sector3 });
+            await _protocol.SendMessageAsync(new PortInputFormatSetupSingleMessage()
+            {
+                HubId = _hubId,
+                PortId = _portId,
+                Mode = ModeIndexLight,
+                DeltaInterval = 10000,
+                NotificationEnabled = false,
+            });
+        }
+
+        protected override uint GetDefaultDeltaInterval(byte modeIndex)
+            => modeIndex switch
+            {
+                1 => 1,
+                2 => 1,
+                _ => base.GetDefaultDeltaInterval(modeIndex),
+            };
+
+        public IEnumerable<byte[]> GetStaticPortInfoMessages(Version softwareVersion, Version hardwareVersion, SystemType systemType)
+                => ((softwareVersion, hardwareVersion, systemType) switch
+                {
+                    (_, _, _) => @"
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+0A-00-44-01-09-80-07-01-05-00
+"
+                }).Trim().Split("\n").Select(s => BytesStringUtil.StringToData(s));
+    }
+}
diff --git a/src/SharpBrick.PoweredUp/Enums/TechnicColor.cs b/src/SharpBrick.PoweredUp/Enums/TechnicColor.cs
@@ -0,0 +1,14 @@
+namespace SharpBrick.PoweredUp
+{
+    public enum TechnicColor : sbyte
+    {
+        None = -1,
+        Black = 0,
+        Blue = 3,
+        Teal = 4,
+        Green = 5,
+        Yellow = 7,
+        Red = 9,
+        White = 10,
+    }
+}